Multiple camera control system

ABSTRACT

A multiple camera tracking system for interfacing with an application program is provided. The tracking system includes multiple cameras arranged to provide different viewpoints of a region of interest, and are operable to produce a series of video images. A processor is operable to receive the series of video images and detect objects appearing in the region of interest. The processor executes a process to generate a background data set from the video images, generate an image data set for each received video image, compare each image data set to the background data set to produce a difference map for each image data set, detect a relative position of an object of interest within each difference map, and produce an absolute position of the object of interest from the relative positions of the object of interest and map the absolute position to a position indicator associated with the application program.

CROSS REFERENCE TO RELATED APPLICATIONS

“This application is a continuation of U.S. application Ser. No.12/493,958, filed Jun. 29, 2009, entitled “MULTIPLE CAMERA CONTROLSYSTEM,” which is a continuation of U.S. application Ser. No.11/932,869, filed Oct. 31, 2007, entitled “MULTIPLE CAMERA CONTROLSYSTEM,” now U.S. Pat. No. 7,555,142, which is a continuation of U.S.application Ser. No. 11/304,000, filed Dec. 19, 2005, entitled “MULTIPLECAMERA CONTROL SYSTEM,” now U.S. Pat. No. 7,421,093, which is acontinuation of U.S. application Ser. No. 09/962,612, filed Sep. 26,2001, entitled “MULTIPLE CAMERA CONTROL SYSTEM,” now U.S. Pat. No.7,058,204, which claims the benefit of U.S. Provisional Application No.60/237,187, filed Oct. 3, 2000, entitled “DUAL CAMERA CONTROL SYSTEM.”All of these applications are incorporated by reference in theirentirety.”

TECHNICAL FIELD

This invention relates to an object tracking system, and moreparticularly to a video camera based object tracking and interfacecontrol system.

BACKGROUND

A variety of operating systems are currently available for interactingwith and controlling a computer system. Many of these operating systemsuse standardized interface functions based on commonly acceptedgraphical user interface (GUI) functions and control techniques. As aresult, different computer platforms and user applications can be easilycontrolled by a user who is relatively unfamiliar with the platformand/or application, as the functions and control techniques aregenerally common from one GUI to another.

One commonly accepted control technique is the use of a mouse ortrackball style pointing device to move a cursor over screen objects. Anaction, such as clicking (single or double) on the object, executes aGUI function. However, for someone who is unfamiliar with operating acomputer mouse, selecting GUI functions may present a challenge thatprevents them from interfacing with the computer system. There alsoexist situations where it becomes impractical to provide access to acomputer mouse or trackball, such as in front of a department storedisplay window on a city street, or while standing in front of a largepresentation screen to lecture before a group of people.

SUMMARY

In one general aspect, a method of tracking an object of interest isdisclosed. The method includes acquiring a first image and a secondimage representing different viewpoints of the object of interest, andprocessing the first image into a first image data set and the secondimage into a second image data set. The method further includesprocessing the first image data set and the second image data set togenerate a background data set associated with a background, andgenerating a first difference map by determining differences between thefirst image data set and the background data set, and a seconddifference map by determining differences between the second image dataset and the background data set. The method also includes detecting afirst relative position of the object of interest in the firstdifference map and a second relative position of the object of interestin the second difference map, and producing an absolute position of theobject of interest from the first and second relative positions of theobject of interest.

The step of processing the first image into the first image data set andthe second image into the second image data set may include determiningan active image region for each of the first and second images, andextracting an active image data set from the first and second imagescontained within the active image region. The step of extracting theactive image data set may include one or more techniques of cropping thefirst and second images, rotating the first and second images, orshearing the first and second images.

In one implementation, the step of extracting the active image data setmay include arranging the active image data set into an image pixelarray having rows and columns. The step of extracting further mayinclude identifying the maximum pixel value within each column of theimage pixel array, and generating data sets having one row wherein theidentified maximum pixel value for each column represents that column.

Processing the first image into a first image data set and the secondimage into a second image data set also may include filtering the firstand second images. Filtering may include extracting the edges in thefirst and second images. Filtering further may include processing thefirst image data set and the second image data set to emphasizedifferences between the first image data set and the background dataset, and to emphasize differences between the second image data set andthe background data set.

Processing the first image data set and the second image data set togenerate the background data set may include generating a first set ofone or more background data sets associated with the first image dataset, and generating a second set of one or more background data setsassociated with the second image data set.

Generating the first set of one or more background data sets may includegenerating a first background set representing a maximum value of datawithin the first image data set representative of the background, andgenerating the second set of one or more background data sets includesgenerating a second background set representing a maximum value of datawithin the second image data set representative of the background.Generating further may include, for the first and second background setsrepresenting the maximum value of data representative of the background,increasing the values contained within the first and second backgroundsets by a predetermined value.

Generating the first set of one or more background data sets may includegenerating a first background set representing a minimum value of datawithin the first image data set representative of the background, andgenerating the second set of one or more background data sets mayinclude generating a second background set representing a minimum valueof data within the second image data set representative of thebackground. Generating further may include, for the first and secondbackground sets representing the minimum value of data representative ofthe background, decreasing the values contained within the first andsecond background sets by a predetermined value.

Generating the first set of background data sets may include samplingthe first image data set, and generating the second set of backgrounddata sets may include sampling the second image data set. Sampling mayoccur automatically at predefined time intervals, where each sample mayinclude data that is not associated with the background.

Generating the first set of one or more background data sets may includemaintaining multiple samples of the first image data set within eachbackground data set, and generating the second set of one or morebackground data sets may include maintaining multiple samples of thesecond image data set within each background data set.

Generating each first background data set may include selecting from themultiple samples one value that is representative of the background foreach element within the first image data set, and generating each secondbackground data set may include selecting from the multiple samples onevalue that is representative of the background for each element withinthe second image data set. Selecting may include selecting the medianvalue from all sample values in each of the background data sets.

In other implementations, generating may include comparing the firstimage data set to a subset of the background data set, and comparing thesecond image data set to a subset of the background data set.

In other implementations generating a first difference map further mayinclude representing each element in the first image data set as one oftwo states, and generating a second difference map further may includerepresenting each element in the second image data set as one of twostates, where the two states represent whether the value is consistentwith the background.

In still other implementations, detecting may include identifying acluster in each of the first and second difference maps, where eachcluster has elements whose state within its associated difference mapindicates that the elements are inconsistent with the background.

Identifying the cluster further may include reducing the difference mapto one row by counting the elements within a column that areinconsistent with the background. Identifying the cluster further mayinclude identifying the column as being within the cluster andclassifying nearby columns as being within the cluster. Identifying thecolumn as being within the cluster also may include identifying themedian column.

Identifying the cluster further may include identifying a positionassociated with the cluster. Identifying the position associated withthe cluster may include calculating the weighted mean of elements withinthe cluster.

Detecting further may include classifying the cluster as the object ofinterest. Classifying the cluster further may include counting theelements within the cluster and classifying the cluster as the object ofinterest only if that count exceeds a predefined threshold. Classifyingthe cluster further may include counting the elements within the clusterand counting a total number of elements classified as inconsistentwithin the background within the difference map, and classifying thecluster as the object of interest only if the ratio of the count ofelements within the cluster over the total number of elements exceeds apredefined threshold.

The step of detecting further may include identifying a sub-clusterwithin the cluster that represents a pointing end of the object ofinterest and identifying a position of the sub-cluster.

In the above implementations, the object of interest may be a user'shand, and the method may include controlling an application programusing the absolute position of the object of interest.

The above implementations further may include acquiring a third imageand a fourth image representing different viewpoints of the object ofinterest, processing the third image into a third image data set and thefourth image into a fourth image data set, and processing the thirdimage data set and the fourth image data set to generate the backgrounddata set associated with the background. The method also may includegenerating a third difference map by determining differences between thethird image data set and the background data set, and a fourthdifference map by determining differences between the fourth image dataset and the background data set, and detecting a third relative positionof the object of interest in the third difference map and a fourthrelative position of the object of interest in the fourth differencemap. The absolute position of the object of interest may be producedfrom the first, second, third and fourth relative positions of theobject of interest.

As part of this implementation, the object of interest may be a user'shand, and also may include controlling an application program using theabsolute position of the object of interest.

In another aspect, a method of tracking an object of interest controlledby a user to interface with a computer is disclosed. The method includesacquiring images from at least two viewpoints, processing the acquiredimages to produce an image data set for each acquired image, andcomparing each image data set to one or more background data sets toproduce a difference map for each acquired image. The method alsoincludes detecting a relative position of an object of interest withineach difference map, producing an absolute position of the object ofinterest from the relative positions of the object of interest, andusing the absolute position to allow the user to interact with acomputer application.

Additionally, this method may include mapping the absolute position ofthe object of interest to screen coordinates associated with thecomputer application, and using the mapped position to interface withthe computer application. This method also may include recognizing agesture associated with the object of interest by analyzing changes inthe absolute position of the object of interest, and combining theabsolute position and the gesture to interface with the computerapplication.

In another aspect, a multiple camera tracking system for interfacingwith an application program running on a computer is disclosed. Themultiple camera tracking system includes two or more video camerasarranged to provide different viewpoints of a region of interest and areoperable to produce a series of video images. A processor is operable toreceive the series of video images and detect objects appearing in theregion of interest. The processor executes a process to generate abackground data set from the video images, generate an image data setfor each received video image and compare each image data set to thebackground data set to produce a difference map for each image data set,detect a relative position of an object of interest within eachdifference map, and produce an absolute position of the object ofinterest from the relative positions of the object of interest and mapthe absolute position to a position indicator associated with theapplication program.

In the above implementation, the object of interest may be a human hand.Additionally, the region of interest may be defined to be in front of avideo display associated with the computer. The processor may beoperable to map the absolute position of the object of interest to theposition indicator such that the location of the position indicator onthe video display is aligned with the object of interest.

The region of interest may be defined to be any distance in front of avideo display associated with the computer, and the processor may beoperable to map the absolute position of the object of interest to theposition indicator such that the location of the position indicator onthe video display is aligned to a position pointed to by the object ofinterest. Alternatively, the region of interest may be defined to be anydistance in front of a video display associated with the computer, andthe processor may be operable to map the absolute position of the objectof interest to the position indicator such that movements of the objectof interest are scaled to larger movements of the location of theposition indicator on the video display.

The processor may be configured to emulate a computer mouse function.This may include configuring the processor to emulate controllingbuttons of a computer mouse using gestures derived from the motion ofthe object of interest. A sustained position of the object of interestfor a predetermined time period may trigger a selection action withinthe application program.

The processor may be configured to emulate controlling buttons of acomputer mouse based on a sustained position of the object of interestfor a predetermined time period. Sustaining a position of the object ofinterest within the bounds of an interactive display region for apredetermined time period may trigger a selection action within theapplication program.

The processor may be configured to emulate controlling buttons of acomputer mouse based on a sustained position of the position indicatorwithin the bounds of an interactive display region for a predeterminedtime period.

In the above aspects, the background data set may include data pointsrepresenting at least a portion of a stationary structure. In thisimplementation, at least a portion of the stationary structure mayinclude a patterned surface that is visible to the video cameras. Thestationary structure may be a window frame. Alternatively, thestationary structure may include a strip of light.

In another aspect, a multiple camera tracking system for interfacingwith an application program running on a computer is disclosed. Thesystem includes two or more video cameras arranged to provide differentviewpoints of a region of interest and are operable to produce a seriesof video images. A processor is operable to receive the series of videoimages and detect objects appearing in the region of interest. Theprocessor executes a process to generate a background data set from thevideo images, generate an image data set for each received video image,compare each image data set to the background data set to produce adifference map for each image data set, detect a relative position of anobject of interest within each difference map, produce an absoluteposition of the object of interest from the relative positions of theobject of interest, define sub regions within the region of interest,identify a sub region occupied by the object of interest, associate anaction with the identified sub region that is activated when the objectof interest occupies the identified sub region, and apply the action tointerface with the application program.

In the above implementation, the object of interest may be a human hand.Additionally, the action associated with the identified sub region mayemulate the activation of keys of a keyboard associated with theapplication program. In a related implementation, sustaining a positionof the object of interest in any sub region for a predetermined timeperiod may trigger the action.

The details of one or more implementations are set forth in theaccompanying drawings and the description below. Other features andadvantages will be apparent from the description and drawings, and fromthe claims.

DESCRIPTION OF DRAWINGS

FIG. 1 shows the hardware components of a typical implementation of themulticamera control system, and their typical physical layout.

FIG. 2A shows the typical geometric relationship between the cameras andvarious image regions of FIG. 1.

FIG. 2B shows a typical image captured by one of the cameras of FIG. 1.

FIG. 3 is a flow diagram showing the processes that are performed,typically within a microcomputer program associated with the multicameracontrol system.

FIG. 4 is a flow diagram showing a portion of the process shown in FIG.3 in greater detail, and in particular, the processes involved indetecting an object and extracting its position from the image signalscaptured by the cameras.

FIG. 5A shows sample image data, presented as a gray-scale bitmap image,acquired by a camera and generated by part of the process shown in FIG.4.

FIG. 5B shows sample image data, presented as a gray-scale bitmap image,generated by part of the process shown in FIG. 4.

FIG. 5C shows sample image data, presented as a gray-scale bitmap image,generated by part of the process shown in FIG. 4.

FIG. 5D shows sample image data, presented as a gray-scale bitmap image,generated by part of the process shown in FIG. 4.

FIG. 5E shows sample data, presented as a binary bitmap image,identifying those pixels that likely belong to the object that is beingtracked in the sample, generated by part of the process shown in FIG. 4.

FIG. 6 is a flow diagram showing a portion of the process described inFIG. 4 in greater detail, and in particular, the processes involved inclassifying and identifying the object given a map of pixels that havebeen identified as likely to belong to the object that is being tracked,for example given the data shown in FIG. 5E.

FIG. 7A shows the sample data presented in FIG. 5E, presented as abinary bitmap image, with the identification of those data samples thatthe processes shown in FIG. 6 have selected as belonging to the objectin this sample.

FIG. 7B shows the sample data presented in FIG. 5E, presented as a bargraph, with the identification of those data samples that the processesoutlined in FIG. 6 have selected as belonging to the object, withspecific points in the graph being identified.

FIG. 7C shows a difference set of sample data, presented as a binarybitmap image, with the identification of those data samples that theprocesses shown in FIG. 6 have selected as belonging to the object andkey parts of the object in this sample.

FIG. 8 is a flow diagram that shows a part of the process shown in FIG.4 in greater detail, and in particular, the processes involved ingenerating and maintaining a description of the background region overwhich the object occludes.

FIG. 9A shows the geometry on which Eq. 3 is based, that is, an angledefining the position of the object within the camera's field of view,given the location on the image plane where the object has been sensed.

FIG. 9B shows the geometry on which Eq. 4, 5 and 6 are based, that is,the relationship between the positions of the cameras and the objectthat is being tracked.

FIG. 10 is a graph illustrating Eq. 8, that is, the amount of dampeningthat may be applied to coordinates given the change in position of theobject to refine the positions.

FIG. 11A is an example of an application program that is controlled bythe system, where the object of interest controls a screen pointer intwo dimensions.

FIG. 11B shows the mapping between real-world coordinates and screencoordinates used by the application program in FIG. 11A.

FIGS. 12A and 12B are examples of an application program that iscontrolled by the multicamera control system, where the object ofinterest controls a screen pointer in a three dimensional virtualreality environment.

FIG. 13A shows the division of the region of interest into detectionplanes used by a gesture detection method to identify a gesture that maybe associated with the intention to activate.

FIG. 13B shows the division of the region of interest into detectionboxes used by a gesture detection method to identify a gesture that maybe associated with selecting a cursor direction.

FIG. 13C shows an alternate division of the region of interest intodirection detection boxes used by a gesture detection method to identifya gesture that may be associated with selecting a cursor direction.

FIG. 13D illustrates in greater detail the relationship of neighboringdivisions of FIG. 13C.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

FIG. 1 shows a multicamera motion tracking and control system 100interfaced with an image viewing system. In this implementation twocameras 101 and 102 scan a region of interest 103. A controlled or knownbackground 104 surrounds the region of interest 103. An object ofinterest 105 is tracked by the system when it enters the region ofinterest 103. The object of interest 105 may be any generic objectinserted into the region of interest 103, and is typically a hand orfinger of a system user. The object of interest 105 also may be aselection device such as a pointer.

The series of video images acquired from the cameras 101 and 102 areconveyed to a computing device or image processor 106. In thisimplementation, the computing device is a general-purpose computer thatruns additional software that provides feedback to the user on a videodisplay 107.

FIG. 2A illustrates a typical implementation of the multicamera controlsystem 100. The two cameras 101 and 102 are positioned outside of theregion of interest 103. The cameras are oriented so that theintersection 204 of their field of views (205 for camera 101, 206 forcamera 102) completely encompasses the region of interest 103. Theorientation is such that the cameras 101, 102 are rotated on axes thatare approximately parallel. In this example, a floor or window ledge andsidewalls provide a controlled background 104 having distinct edges. Thecorresponding view captured by camera 101 is shown in FIG. 2B. While notshown, it should be understood that the view captured by camera 102 is amirror image of the view captured by camera 101. The controlledbackground 104 may not cover the camera's entire field of view 205. Foreach camera, an active image region 208 is found that is entirelycontained within the controlled background 104, and also contains theentire region of interest 103. The background 104 is controlled so thata characteristic of the background can be modeled, and the object ofinterest 105, either in part or in whole, differs from the background104 in that characteristic. When the object of interest 105 appearswithin the region of interest 103, the object 105 will occlude a portionof the controlled background 104 within the active image region 208 ofeach camera 101, 102. In the location of the occlusion, either as awhole or in parts, the captured images will, in terms of the selectedcharacteristic, be inconsistent with the model of the controlledbackground 104.

In summary, the object of interest 105 is identified and, if found, itsposition within the active image region 208 of both cameras iscalculated. Using the position data of each camera 101, 102, as well asthe positions of the cameras relative to the region of interest 103, andparameters describing the cameras, the position of the object ofinterest 105 within the region of interest 103 is calculated.

The processes performed by the image processor 106 (FIG. 1), which maybe implemented through a software process, or alternatively throughhardware, are generally shown in FIG. 3. The camera images aresimultaneously conveyed from the cameras 101, 102 and captured by imageacquisition modules 304, 305 (respectively) into image buffers 306, 307(respectively) within the image processor 106. Image detection modules308, 309 independently detect the object of interest 105 in each image,and determine its position relative to the camera view. The relativeposition information 310, 311 from both camera views is combined by acombination module 312 and optionally refined by a position refinementmodule 313, to determine at block 314, the global presence and positionof the object of interest 105 within the region of interest 103.Optionally, specific gestures performed by the user may be detected in agesture detection module 315. The results of the gesture detectionprocess are then conveyed to another process or application 316, eitheron the same image processor 106 or to another processing device. Theprocess of gesture detection is described in greater detail below.

Image detection modules 308 and 309 are identical in the processes thatthey execute. An implementation of these image detection modules 308,309 is shown in FIG. 4. In block 402, the image processor 106 extracts,from the captured image data stored in the image buffers 306 or 307, theimage data that corresponds to the active image region 208 (of FIG. 2B).The image may be filtered in a filtering process 403 to emphasize orextract the aspects or characteristics of the image where the background104 and object of interest 105 differ, but are otherwise invariantwithin the background 104 over time. In some implementations, the datarepresenting the active image region may also be reduced by a scalingmodule 404 in order to reduce the amount of computations required inlater processing steps. Using the resulting data, the background 104 ismodeled by one or more instances of a background model process at block405 to produce one or more descriptions represented as background modeldata 406 of the controlled background 104. Therefore the background 104is modeled in terms of the desired aspects or characteristics of theimage. The background model(s) 406 are converted into a set of criteriain process 407. In a comparison process 408, the filtered (from process403) and/or reduced (from module 404) image data is compared to thosecriteria (from process 407), and the locations where the current data isinconsistent with the background model data 406, that is where thecriteria is not satisfied, are stored in an image or difference map 409.In detection module 410, the difference map 409 is analyzed to determineif any such inconsistencies qualify as a possible indication of anobject of interest 105 and, if these criteria are satisfied, itsposition within the camera view (205 or 206) is determined. The positionof the object 105 may be further refined (optionally) at block 411,which produces a camera-relative presence and position output 310 or 311associated with the object of interest 105 (as described above withrespect to FIG. 3).

In block 402 of FIG. 4, image processor 106 extracts the image data thatcorresponds to the active image region 208 (of FIG. 2B). The image datamay be extracted by cropping, shearing, rotating, or otherwisetransforming the captured image data. Cropping extracts only the portionof the overall image that is within the active image region 208. Boundsare defined, and any pixels inside the bounds are copied, unmodified, toa new buffer, while pixels outside of the bounds are ignored. The activeimage region 208 may be of arbitrary shape. Shearing and rotationreorder the data into an order that is more convenient for furtherprocessing, such as a rectangular shape so that it may be addressed interms of rows and columns of pixels.

Rotation causes the contents of an image to appear as if the image hasbeen rotated. Rotation reorders the position of pixels from (x,y) to(x′,y′) according to the following equation:

$\begin{bmatrix}x^{\prime} \\y^{\prime} \\1\end{bmatrix} = {\begin{bmatrix}{\cos\;\theta} & {{- \sin}\;\theta} & 0 \\{\sin\;\theta} & {\cos\;\theta} & 0 \\0 & 0 & 1\end{bmatrix}\begin{bmatrix}x \\y \\1\end{bmatrix}}$

-   -   where θ is the angle that the image is to be rotated.

If the cameras 101 and 102 are correctly mounted with respect to theregion of interest 103, the desired angle of rotation will typically besmall. If the desired angle of rotation is small, shearing may be usedto provide an approximation that is computationally simpler thanrotation. Shearing distorts the shape of an image such that thetransformed shape appears as if the rows and columns have been caused toslide over and under each other. Shearing reorders the position ofpixels according to the following equations:

$\begin{bmatrix}x^{\prime} \\y^{\prime} \\1\end{bmatrix} = {{{\begin{bmatrix}1 & {sh}_{x} & 0 \\0 & 1 & 0 \\0 & 0 & 1\end{bmatrix}\begin{bmatrix}x \\y \\1\end{bmatrix}}\mspace{14mu}{{and}\mspace{14mu}\begin{bmatrix}x^{\prime} \\y^{\prime} \\1\end{bmatrix}}} = {\begin{bmatrix}1 & 0 & 0 \\{sh}_{y} & 1 & 0 \\0 & 0 & 1\end{bmatrix}\begin{bmatrix}x \\y \\1\end{bmatrix}}}$where sh_(x) represents the amount of horizontal shear within the image,and sh_(y) represents the amount of vertical shear within the image.

An implementation of the multicamera control system 100 applies inscenarios where the object of interest 105, either in whole or in part,is likely to have either higher or lower luminance than the controlledbackground 104. For example, the background 104 may be illuminated tocreate this scenario. A filtering block 403 passes through the luminanceinformation associated with the image data. A single background model406 represents the expected luminance of the background 104. Inpractice, the luminance of the controlled background 104 may vary withinthe active image region 208, therefore the background model 406 maystore the value of the expected luminance for every pixel within theactive image region 208. The comparison criteria generation process 407accounts for signal noise (above that which may be accounted for withinthe background model) and minor variability of the luminance of thecontrolled background 104 by modifying each luminance value from thebackground model 406, thus producing the minimal luminance value thatmay be classified as being consistent with the background model 406. Forexample, if the luminance of the controlled background 104 is higherthan the luminance of the object of interest 105, then processes block407 decreases the luminance value of each pixel by an amount greaterthan the expected magnitude of signal noise and variability ofluminance.

In some implementations of system 100, the region of interest 103 issufficiently narrow such that it may to be modeled as a region of aplane. The orientation of that plane is parallel to the front and rearfaces of the dotted cube that represents the region of interest 103 inFIG. 1. The active image region 208 may be reduced to a single row ofpixels in the optional scaling module 404 if two conditions aresatisfied: 1) the object of interest 105, when it is to be detected,will occlude the background 104 in all rows of some columns of theactive image region 208, and 2) a single set of values in the backgroundmodel 406 sufficiently characterizes an entire column of pixels in theactive image region 208. The first condition is usually satisfied if theactive image region 208 is thinner than the object of interest 105. Thesecond condition is satisfied by the implementation of blocks 403, 405,406 and 407 described above. Application of the scaling module 404reduces the complexity of processing that is required to be performed inlater processes, as well as reducing the storage requirements of thebackground model(s) 406.

The particular implementation of the scaling module 404 depends on thespecifics of processing blocks 403, 405, 406 and 407. If the luminanceof the controlled background 104 is expected to be higher than that ofthe object of interest 105, as described above, one implementation ofthe scaling module 404 is to represent each column by the luminance ofgreatest magnitude within that column. That is to say, for each column,the highest value in that column is copied to a new array. This processhas the added benefit that the high-luminance part of the controlledbackground 104 need not fill the entire controlled background 104.

An alternative implementation applies in scenarios where the controlledbackground 104 is static, that is, contains no motion, but is nototherwise limited in luminance. A sample source image is included inFIG. 5A as an example. In this case, the object of interest, as sensedby the camera, may contain, or be close in magnitude to, the luminancevalues that are also found within the controlled background 104. Inpractice, the variability of luminance of the controlled background 104(for example, caused by a user moving in front of the apparatus therebyblocking some ambient light) may be significant in magnitude relative tothe difference between the controlled background 104 and the object ofinterest 105. Therefore, a specific type of filter may be applied in thefiltering process 403 that produces results that are invariant to orde-emphasize variability in global luminance, while emphasizing parts ofthe object of interest 105. A 3×3 Prewitt filter is typically used inthe filtering process 403. FIG. 5B shows the result of this 3×3 Prewittfilter on the image in FIG. 5A. In this implementation, two backgroundmodels 406 may be maintained, one representing each of the high and lowvalues, and together representing the range of values expected for eachfiltered pixel. The comparison criteria generation process 407 thendecreases the low-value and increases the high-value by an amountgreater than the expected magnitude of signal noise and variability ofluminance. The result is a set of criterion, an example of which, forthe low-value, is shown in FIG. 5C, and an example of which, for thehigh-value, is shown in FIG. 5D. These modified images are passed to thecomparison process 408, which classifies pixels as being inconsistent tothe controlled background 104 if their value is either lower than thelow-value criterion (FIG. 5C) or higher than the high-value criterion(FIG. 5D). The result is a binary difference map 409, of which examplecorresponding to FIG. 5B is shown in FIG. 5E.

The preceding implementation allows the use of many existing surfaces,walls or window frames, for example, as the controlled background 104where those surfaces may have arbitrary luminance, textures, edges, oreven a light strip secured to the surface of the controlled background104. The above implementation also allows the use of a controlledbackground 104 that contains a predetermined pattern or texture, astripe for example, where the above processes detect the lack of thepattern in the area where the object of interest 105 occludes thecontrolled background 104.

The difference map 409 stores the positions of all pixels that are foundto be inconsistent with the background 104 by the above methods. In thisimplementation, the difference map 409 may be represented as a binaryimage, where each pixel may be in one of two states. Those pixels thatare inconsistent with the background 104 are identified or “tagged” bysetting the pixel in the corresponding row and column of the differencemap to one of those states. Otherwise, the corresponding pixel is set tothe other state.

An implementation of the detection module 410, which detects an objectof interest 105 in the difference map 409, shown in FIG. 6. Anotherscaling module at block 603 provides an additional opportunity to reducethe data to a single dimensional array of data, and may optionally beapplied to scenarios where the orientation of the object of interest 105does not have a significant effect on the overall bounds of the objectof interest 105 within the difference map 409. In practice, this appliesto many scenarios where the number of rows is less than or similar tothe typical number of columns that the object of interest 105 occupies.When applied, the scaling module at block 603 reduces the difference map409 into a map of one row, that is, a single dimensional array ofvalues. In this implementation, the scaling module 603 may count thenumber of tagged pixels in each column of the difference map 409. As anexample, the difference map 409 of FIG. 7A is reduced in this manner anddepicted as a graph 709 in FIG. 7B. Applying this optional processingstep reduces the processing requirements and simplifies some of thecalculations that follow.

Continuing with this implementation of the detection module 410, it isobserved that the pixels tagged in the difference map (409 in exampleFIG. 7A) that are associated with the object of interest 105 willgenerally form a cluster 701, however the cluster is not necessarilyconnected. A cluster identification process 604 classifies pixels (or,if the scaling module 603 has been applied, classifies columns) as towhether they are members of the cluster 701. A variety of methods offinding clusters of samples exist and may be applied, and the followingmethods have been selected on the basis of processing simplicity. It isnoted that, when the object of interest 105 is present, it is likelythat the count of correctly tagged pixels will exceed the number offalse-positives. Therefore the median position is expected to fallsomewhere within the object of interest 105. Part of this implementationof the cluster identification process 604, when applied to a map of onerow (for example, where the scaling module at block 603 or 404 has beenapplied), is to calculate the median column 702 and tag columns as partof the cluster 701 (FIG. 7B) if they are within a predetermined distance703 that corresponds to the maximum number of columns expected to beoccupied. Part of this implementation of the cluster identificationprocess 604, when applied to a map of multiple rows, is to add taggedpixels to the cluster 703 if they meet a neighbor-distance criterion.

In this implementation, a set of criteria is received by a clusterclassification process 605 and is then imposed onto the cluster 701 toverify that the cluster has qualities consistent with those expected ofthe object of interest 105. Thus, process 605 determines whether thecluster 701 should be classified as belonging to the object of interest105. Part of this implementation of the cluster classification process605 is to calculate a count of the tagged pixels within the cluster 701and to calculate a count of all tagged pixels. The count within thecluster 701 is compared to a threshold, eliminating false matches inclusters having too few tagged pixels to be considered as an object ofinterest 105. Also, the ratio of the count of pixels within the cluster701 relative to the total count is compared to a threshold, furtherreducing false matches.

If the cluster 701 passes these criteria, a description of the clusteris refined in process block 606 by calculating the center of gravityassociated with the cluster 701 in process 607. Although the medianposition found by the scaling module 603 is likely to be within thebounds defining the object of interest 105, it is not necessarily at theobject's center. The weighted mean 710, or center of gravity, provides abetter measure of the cluster's position and is optionally calculatedwithin process 606, as sub-process 607. The weighted mean 710 iscalculated by the following equation:

$\overset{\_}{x} = \frac{\sum\limits_{x = 0}^{c - 1}{x \cdot {C\lbrack x\rbrack}}}{\sum\limits_{x = 0}^{c - 1}{C\lbrack x\rbrack}}$

-   -   where:        -   x is the mean        -   c is the number of columns        -   C[x] is the count of tagged pixels in column x.

The cluster's bounds 704 may also be optionally calculated withinprocess 606, shown as process 608. The cluster 703 may include somefalse-positive outliers, so as part of this implementation, the boundsmay be defined as those that encompass a predetermined percentile of thetagged pixels, or, in scenarios where relatively few pixels are expectedto be tagged, encompasses those tagged pixels (or columns, if scalingmodule 603 is applied) that form tight sub-clusters, that is thosetagged pixels (or columns) that have neighbors that are also tagged.

In addition to the middle and bound coordinates, the orientation of theobject of interest 105 may optionally be inferred by calculation of themoments of the cluster. This calculation is represented by a clusterorientation calculation process at sub-process 609 within process 606.

In some applications of the system 100, the object of interest 105 isused as a pointer. In this case, the “pointing end” of the object 105 isdesired and may also be determined by a pointing end calculationsub-process within process 606 if the region of interest 103 contains asufficient number of rows and the number of rows has not been reduced.An example is depicted in FIG. 7C. The object of interest 105 willtypically enter, or be constrained to enter, the active image region 208from a known border of that region. The pointing end 705 (for examplethe user's fingertip) of the object of interest 105 is likely to be theportion of the cluster 701 that is furthest from the region of entry 706into the active image region 208. The cluster 701 may include somefalse-positive outliers. As such, the pointing end 705 may be defined asthe region 707 within the cluster 701 that encompasses multiple taggedpixels near the furthest bounding side of the cluster 701, or, inscenarios where relatively few pixels are expected to be tagged,encompasses the furthest tagged pixels that form a tight sub-cluster;that is those tagged pixels that have neighbors that are also tagged.This sub-cluster is identified by a sub-cluster pointing end process610, and the position of the sub-cluster is found in process 611.

Continuing with this implementation, a process implemented by asmoothing module 612 may optionally be applied to any or all of thepositions found in process 606. Smoothing is a process of combining theresults with those solved previously so they move in a steady mannerfrom frame to frame. The weighted mean coordinate 710, found by thecenter of gravity determination process 607, is dependent on manysamples and therefore is inherently steady. The bound 704, found by thecluster bounding dimension determination process 608, and pointing end705, found by 611, coordinates are dependent on relatively fewer membersof the cluster, and the state of a single pixel may have a significanteffect. Since the size of the region occupied by the object of interest105 is expected to remain relatively steady, smoothing may be applied tothe distance between the bounds 704 measured relative to the cluster'sweighted mean coordinate 710. Since the shape and orientation of theobject of interest 105 is expected to change less rapidly than theoverall position object of interest 105, smoothing may be applied to thedistance of the pointing end 705 measured relative to the cluster'sweighted mean coordinate 710.

A process used in the center of gravity process 607 is Eq. 1 as follows:s(t)=(a×r(t))+((1−a)×s(t−1))In Eq. 1, the smoothed value at time t (s(t)) is equal to one minus thescalar value (a) multiplied by the smoothed value at time minus one(t−1). This amount is added to the raw value at time t (r(t)) multipliedby a scalar (a) that is between zero and one.

Referring to FIG. 8, implementations of system 100 make use of, asdescribed above, one or more background models 406 (FIG. 4). Animplementation of the background model process or component 405 thatgenerates the background model data 406 is shown in FIG. 8. Thisimplementation of the background model component 405 automaticallygenerates and dynamically updates the background model, allowingunattended operation of the system.

Input data 802 is provided by the output of scaling module 404 for thisimplementation of the background model component 405. Input is availableevery frame, and is sampled in a sampling process 803. The sample maycontain the object of interest 105 occluding part of the controlledbackground 104. For each pixel, a range of values may be a betterrepresentative of the background 104 than a single value. By includingthe effects of this range in the background model, the expansion inprocess 407 may be made tighter. Contributing multiple frames of data tothe sample allows this range to be observed, but also increases theportion of the background 104 that is occluded by the object of interest105 if the object of interest 105 is in motion while the frames arebeing sampled. The optimal number of frames to use is dependent on theexpected motion of the object of interest 105 in the particularapplication of the system. In practice, for systems that are tracking ahand, 10 frames, representing approximately 0.33 seconds, is sufficientto observe the majority of that range without allowing motion of theobject of interest to occlude an undue portion of the background. If theparticular background model is to be compared in comparison process 408as the upper bound on values that are considered to be consistent withthe background 104, then the maximum value of each pixel observed in themultiple frames may be recorded as the sample value. If the particularbackground model 406 is to be compared in process 408 as the lower boundon values that are considered to be consistent with the background 104,then the minimum value of each pixel observed in the multiple frames maybe recorded as the sample value.

In this implementation of the background model component 405, samplesfrom the sampling process 803 are added to a buffer 804 having storagelocations to store n samples, where the oldest sample in the history isreplaced. The history therefore contains n sampled values for eachpixel. The span of time, d, represented in the buffer is dependent onthe rate that new samples are acquired and added to the history, r, byEq. 2, described as follows:

$d = \frac{n}{r}$

In this implementation, a median process block 805 selects, for eachpixel, a value that it determines is representative of the controlledbackground 104 at the location represented by that pixel. One method ofselecting a value representative of the controlled background 104 withinprocess block 805 is to select the median value of the n samples of eachpixel. For any pixel, a number of the n sampled values in the buffer 804may represent the object of interest 105. Duration d is selected so thatit is unlikely that the object of interest 105 will occlude any onepixel of the controlled background 104 for an accumulated duration ofd/2 or longer within any time-span of d. Therefore, for any pixel, themajority of the sampled values will be representative of the background104, and therefore the median of the sampled values will be a valuerepresentative of the background 104.

The background model component 405 is adaptive, and any changes to thebackground 104 will be reflected in the output of median process block805 once they have been observed for time of d/2. This system does notrequire that the entire controlled background 104 be visible wheninitialized, the object of interest 105 may be present when initialized,however it does require that samples be observed for time of d beforeproviding output. Optionally, the constraint may be applied that theobject of interest 105 must be absent when the system is initialized, inwhich case the first observed sample values may be copied into all nsamples of the buffer 804, allowing the system to produce an outputsooner.

The duration that any one pixel of the controlled background 104 will beoccluded by the object of interest 105, and therefore the duration d, isdependent on the particular application of the system. The number ofsamples, n, can be scaled for the memory buffer and processing poweravailable.

The preceding discussion presents one implementation of obtaining theposition of the object of interest 105 within and relative to the imagesacquired by the cameras 101 and 102. If the object of interest 105 wassuccessfully detected and its coordinates found in both cameras views205 and 206 by detection modules 308 and 309 of FIG. 3, then thecombination of these coordinates is sufficient to recover the positionof the object of interest 105 within the region of interest 103. In theimplementation outlined in FIG. 3, the position of the object ofinterest 105 is calculated in combination module 312.

Turning to FIGS. 9A and 9B, an implementation of the combination module312 is shown. For each camera 101 and 102, the position p 902 of theobject of interest 105 on the camera's image plane 904 is converted toan angle 905, which is referred in this description as beta (β), and ismeasured on the reference plane whose normal is defined by the axes ofthe rotations of the cameras 101, 102. (In practice, the axes are notprecisely parallel and do not exactly define a single plane, however theprocess described herein is tolerant of that error). By approximatingthe camera 101, 102 as an ideal pinhole model of the camera, that angle(β), relative to the vector 906 defining the orientation of the camera,is approximated.

Eq. 3, as shown in FIG. 9A, illustrates an approximation calculation asfollows:

$\beta = {\tan^{- 1}\left( \frac{f}{p} \right)}$To approximate the angle beta (β), the inverse tangent is applied to thequantity of the focal length (f) divided by the position p on the imageplane projected onto the intersection of the reference plane and theimage plane.

For maximum precision, the intrinsic camera parameters (location of theprincipal point and scale of image) and radial distortion caused by thelens should be corrected for by converting the distorted position (asrepresented by the relative position information 310, 311) to the idealposition. More specifically, the ideal position is the position on theimage plane 904 that the object 105 would be projected if the camera101, 102 had the properties of an ideal pinhole camera, whereby Eq. 3will produce the exact angle. One set of correction equations arepresented in Z. Zhang, A Flexible New Technique for Camera Calibration,Microsoft Research, http://research.microsoft.com/˜zhang, which isincorporated by reference. For many applications of the system, theapproximation has been found to provide sufficient precision withoutthis correction noted above.

Continuing with the description of combination module 312, a referencevector 907, as illustrated in FIG. 9B, is defined such that it passesthrough the positions of both cameras 101 and 102 on the reference planewhere the reference plane is defined such that the axis of rotation ofthe cameras define the normal of the reference plane. The angles 908that the cameras are rotated are measured relative to the referencevector 907.

A formula for measurement of the angles is shown in Eq. 4:α=β₀+βMeasurement of the angle alpha (α) is equal to the angle beta_not (β₀)and the angle beta (β).

Eq. 4 is applied to measure the angles 909 of the object of interest 105relative to the reference vector 907. That angle is referred to by thealpha (α) symbol herein. The angle alpha 909 for each camera 101 and102, and the length of the reference vector 907, are sufficient to findthe position of the object of interest 105 on the reference plane, byEq. 5 and Eq. 6.

Eq. 5 calculates the offset of the object of interest (y) by theformula:

$y = \frac{w\;\tan\;\alpha_{A}\tan\;\alpha_{B}}{{\tan\;\alpha_{A}} + {\tan\;\alpha_{B}}}$The offset (y) is equal to the reciprocal of the tangent of the angle(aA) for camera A 101 and the tangent of the angle (aB) for camera B 102multiplied by the vector length 907 (w), the tangent of the angle (aA)for camera A 101 and the tangent of the angle (aB) for camera B 102.

Eq. 6 calculates the offset of the object of interest (xA) as follows:

$x_{A} = \frac{y}{\tan\;\alpha_{A}}$In Eq. 6, the offset (xA) is measured by the offset from Eq. 5 (y)divided by the tangent of the angle (aA) for camera A 101.

The position of the object 105 on the axis perpendicular to thereference plane may be found by Eq. 7, which is applied to the positionin each image, using the distance of the object of interest 105 from thecamera.

$z = {l\frac{p}{f}}$

In Eq. 7, the position (z) is calculated as the position (p) on theimage plane projected onto the vector of the image plane perpendicularto that use in Eq. 3 divided by the focal length (f) multiplied by thedistance of the object of interest 105 from the camera (l).

These relations provide a coordinate of the object of interest 105relative to Camera A 101. Knowing the position and size of the region ofinterest 103 relative to Camera A 101, the coordinate may be convertedso that it is relative to the region of interest 103, 312 of FIG. 3.

Smoothing may optionally be applied to these coordinates in refinementmodule 313 of the implementation of this system shown in FIG. 3.Smoothing is a process of combining the results with those solvedpreviously so that motion is steady from frame to frame. One method ofsmoothing for these particular coordinate values (x_(A), y, z found bycombination module 312) is described herein. Each of the components ofthe coordinate values associated with the object of interest 105, thatis x, y, and z, are smoothed independently and dynamically. The degreeof dampening S is calculated by Eq. 8, where S is dynamically andautomatically adjusted in response to the change in position iscalculated as follows:

$S = \left\{ {{\begin{matrix}S_{A} & \; & {{if}\mspace{14mu}\left( {D \leq D_{A}} \right)} \\{{\alpha\; S_{B}} + {\left( {1 - \alpha} \right)S_{A}}} & {{{where}\mspace{14mu}\alpha} = \frac{D - D_{A}}{D_{B} - D_{A}}} & {{if}\mspace{14mu}\left( {D_{A} < D < D_{B}} \right)} \\S_{B} & \; & {{if}\mspace{14mu}\left( {D \geq D_{B}} \right)}\end{matrix}D} = {{{r(t)} - {s\left( {t - 1} \right)}}}} \right.$In Eq. 8, s(t) is the smoothed value at time t, r(t) is the raw value attime t, D_(A) and D_(B) are thresholds, and S_(A) and S_(B) definedegrees of dampening.

Two distance thresholds, D_(A) and D_(B), as shown in FIG. 10, definethree ranges of motion. A change in position that is less than D_(A),motion is heavily dampened 1001 by S_(A), thereby reducing the tendencyof a value to switch back and forth between two nearby values (a sideeffect of the discrete sampling of the images). A change in positiongreater than D_(B) is lightly dampened 1002 by S_(B), or not dampened.This reduces or eliminates lag and vagueness that is introduced in someother smoothing procedures. The degree of dampening is varied for motionbetween D_(A) and D_(B), the region marked as 1003, so that thetransition between light and heavy dampening is less noticeable. Thescalar a, which is applied to Eq. 1, is found by Eq. 9 as follows:

$a = \frac{e\left( {1 - S} \right)}{S}$In Eq. 9, scalar (a) is bound such that equal to or greater than zero,and less than or equal to one, the dampening value of S is found by Eq.8, and e is the elapsed time since the previous frame.

These coordinates 314 of the object of interest 105, if found, aretypically conveyed to another process such as a user application program316 for use. They may be conveyed to another process executing on thesame image processor 106 as the above calculations where performed, orto another computing device. The method in which the data are conveyedto the application program 316 may include emulation of a traditionaluser input device (including mouse and keyboard), allowing the system toprovide control of existing control functions within the applicationprogram 316. The coordinates 314 of the object of interest 105 may becalculated for every video frame captured by the cameras, where onevideo frame is typically captured 30 times or more every second. Thisresults in little latency between the user's actions and theapplication's reactions.

In a typical implementation of the system, the application program 316provides user feedback by displaying to the video display 107 a visualrepresentation of an indicator. The indicator is caused to move suchthat its position and motion mimics the motion of the object of interest105 (typically the user's hand).

In one variation of this form of user interface, the indicator, such asa mouse pointer, is shown in front of other graphics, and its movementsare mapped to the two dimensional space defined by the surface of thescreen. This form of control is analogous to that provided by a computermouse, such as that used with the Microsoft® Windows® operating system.An example feedback image of an application that uses this style ofcontrol is shown as 1102 in FIG. 11A.

Referring to FIG. 11A (and briefly to FIG. 3), the image processor 106also includes an optional coordinate re-mapping process 317 (FIG. 3).The coordinate re-mapping process 317 is operable to remap the globalpresence and position coordinates 314 (associated with the object ofinterest 105) into the position where the indicator 1101 (such as acursor or mouse pointer) is overlaid onto the image 1102 by way of Eq.10 for the x coordinate, and the equivalent of this equation for the ycoordinate, as follows:

$x_{c} = \begin{Bmatrix}0 & {{{if}\mspace{14mu} x_{h}} < b_{l}} \\\frac{x_{h} - b_{l}}{b_{r} - b_{l}} & {{{if}\mspace{14mu} b_{l}} \leq x_{h} \leq b_{r}} \\1 & {{{if}\mspace{14mu} x_{h}} > b_{r}}\end{Bmatrix}$

In Eq. 10, x_(h) is the coordinate position 314 associated with theobject 105, x_(c) is the cursor position on the screen, mapped 0-1, andb_(l) and b_(r) are the positions of the left and right bounds of asub-region within the region of interest 103. As illustrated in FIG.11B, the entire region of the display 1102 is represented by asub-region 1103 contained entirely within the region of interest 103.Positions (for example, position A 1105) within the sub-region 1103 arelinearly mapped to positions (for example, 1106) within the display1102. Positions (for example, position B 1107) outside the sub-region1103 but still within the region of interest 103 are mapped to thenearest position (for example, 1108) on the border of the display region1102. This reduces the likelihood of the user unintentionally removingthe object of interest 105 (usually the user's hand or pointing finger)from the sub-region while attempting to move the indicator 1101 to aposition near a border of the display.

In scenarios where the region of interest 103 is immediately in front ofthe video display 107, the sub-region 1103 may be defined to be alignedto the video display 107, so that the indicator 1101 will appear to bealigned with the object of interest 105. If the region of interest 103is relatively thin, for example less that 5 cm, and the sub-region 1103is defined in this way, then the system approximates, in terms ofuser-interaction, a “touch-screen” without limitations on the size ofthe video display 107, and without requiring direct contact between theuser and video display's 107 surface (for example, the video display anduser may be on opposite sides of a window). As will be appreciated, thesystem 100 can be used with a variety of video display sizes, and mayinclude not only computer monitors (whether CRT or LCD type displays),but also may include rear projection style television monitors, largeflat screen LCD monitors, and forward projection style presentationsystems.

In scenarios where the region of interest 103 is not immediately infront of a large video display 107, and the active image region 208 issufficiently deep that the orientation of the object of interest isfound in the orientation calculation process 609, a vector may beextended from the object of interest's position to the video display 107using the angle of orientation to detect the position on the videodisplay that the user is “pointing to.”

Most often, however, the active image region 208 is not sufficientlydeep to accurately calculate the orientation in process block 609. Inthese scenarios, where the region of interest 103 is not immediately infront of a large video display 107 and the orientation is notcalculated, Eq. 10 may be applied where the sub-region 1103 is smallerthan the video display. The processor then maps the absolute position ofthe object of interest 105 to the position indicator such that movementsof the object of interest 105 are scaled to larger movements of thelocation of the position indicator on the video display, which allowsthe entire area of the video display to be easily reached by the user(for example the sub region 1103 may be defined to be at most 750 mm inwidth and proportional in height, a size that is easily reached by mostusers). When setup in this way, the system still provides the user thefeeling of “pointing to the screen.”

In another variation of this form of user interface, the user causes arepresentation of an indicator to move within a representation of athree dimensional virtual environment (examples are presented in FIG.12A and FIG. 12B). The virtual environment may be rendered usingprojective transforms, so that the depths of the virtual environment areimplied by the image presented on the video display 107. Techniques forrending this sort of virtual environment include OpenGL. Eq. 10 is usedto remap the x, y, and z coordinates (the sub-region 1103 becomes, forexample, a cube).

Applications that are controlled by a movable on screen indicator (forexample, FIGS. 11A, 12A, and 12B), whose control has been discussed,typically present graphic representations of data or interactiveelements (for example, a button 1109 or an object representation 1202).The user is expected to cause the indicator 1101 to be positioned overone of these objects, or if a three-dimensional virtual environment ispresented, touches or interacts with the object. For a two-dimensionalinterface, this condition may be detected by comparing the remappedindicator position 1106 to the bounds (for example, 1110) of the graphicrepresentation of the object, where this condition is true if theindicator position is within the object bounds. For thethree-dimensional interface, this condition may be detected by comparingthe bounds 1203 of either the entire indicator 1101, or if finer controlis required, a part of the indicator, with the bounds 1204 of the object1202. The user optionally receives feedback indicating that the cursoris positioned over an object. Feedback may be of a variety of forms,including an audio cue and/or a change in the graphical representationof either or both the cursor and object. The user may then activate,manipulate, or move the object that is under the cursor. The user isexpected to indicate his intention to activate, manipulate, or move theobject by performing a gesture.

The motion of the object of interest 105 may optionally be interpretedand classified by the gesture detection module 315 as described abovewith respect to FIG. 3. The gesture detection process 315 may utilizethe data produced from any component of the system. The finalcoordinates 314, image coordinates 310 and 311, or a combination of 310,311, and 314, may be sampled over time and provided as input to thegesture detection process 315. A variety of gestures (for example,“hovering” and “poking”) have been successfully detected using this dataas input to a gesture detection process 315.

In scenarios where the application's state (that is, whether of not theindicator 1101 is over a button 1109) is known and is conveyed to thegesture detection module 315. One gesture that the user performs toindicate the intention to activate the object (for example screenobjects 1109, 1202) that is under the cursor 1101 is to cause the cursorto hover over the object (examples 1109, 1202) for longer than apredefined duration. This gesture performed by the user is detected bymonitoring the application's state and triggering the gesture when theapplication state remains unchanged for the predetermined duration. Theapplication need not be created specifically for the multicamera controlsystem 100, as techniques exist that can unobtrusively monitor anapplication's state (in the Windows operating system by setting a “hook”using the Windows SDK function “SetWindowsHookEx”) and emulating a mouse“click” (in the Windows operating system by using the Windows SDKfunction “SendInput”).

In some scenarios, the application state may not be available and maynot be monitored. In this case, some exemplary gestures that indicatethe intention to active the object (for example screen objects 1109,1202) under the cursor 1101 are holding the hand stationary(“hovering”), or poking the hand quickly forward and back.

A method by which “hovering” has been detected is by keeping a historyof the position of the object of interest 105, where that historycontains all records of the position and state for a predefined durationof time, ending with the most recent sample. That duration representsthe minimum duration that the user must hold the hand stationary. Theminimum and maximum position, separately in each of the three (x,y,z)dimensions, is found within the history. If the object of interest 105was present within the region of interest 103 in all samples of thehistory, and the distance between the minimum and maximum is within apredefined threshold for each of the three dimensions, then the“hovering” gesture is reported. Those distance thresholds represent themaximum amount that the object of interest 105 is allowed to move, plusthe maximum amount of variation (or “jitter”) expected to be introducedinto the hand position by the various components of the system. Thetypical method in which this gesture is reported, where the system isemulating a mouse as described above, is to emulate a mouse “click.”Gestures representing additional operations of the mouse, “doubleclicks” and “dragging,” have also been detected and those operationshave been emulated.

In addition, gestures that are independent of the position of theindicator relative to an object may optionally be detected and givenmeaning by the application that may or may not be dependent on theapplication's state. An application that uses this style of interactiontypically does not explicitly use or display the object of interest'sposition 317 or other positions. These applications can be wholly orprimarily controlled with only the interpretations of the positions madeby this system. These applications also need not be created specificallyfor this system because the interpretations made by this system can beused to simulate an action that would be performed on a traditional userinput device, such as a keyboard or joystick.

Many useful interpretations depend directly on the absolute position ofthe object of interest 105 within the region of interest 103.(Alternately, the indicator position 1105 within the sub-region 1103 maybe used in an equivalent manner). One method of making theseinterpretations is to define boxes, planes, or other shapes. A state istriggered on if the position (for example the position defined by block314, or alternately by the remapped coordinates from remapping process317) of the object of interest 105 is found to be within a first box (orbeyond the border defined by the first plane), and had not been in theimmediately preceding observation (either because it was elsewherewithin the region of interest 103, or was not detected). This state ismaintained until the hand position is not found to be within a secondbox (or beyond the border defined by the second plane), at which timethe state is triggered off. The second box must contain the entire firstbox, and is typically larger. The use of a larger box reducesoccurrences of the state unintentionally triggering on and off when theobject of interest 105 is detected to be near the border of the boxes,where a very small motion or minor noise in the image signals wouldotherwise cause the position 317 to otherwise drift in and out of thebox. Typically one of three methods of interpreting this state is used,depending on the intended use of the gesture. In one method, the gesturedirectly reflects the state with an on and off trigger. When emulating akeyboard key or joystick fire button, it is “pressed” when the state istriggered on, and “released” when the state is triggered off. In anothermethod, the gesture is only triggered by the transition of the statefrom off to on. When emulating a keyboard key or joystick button, thekey is “clicked.” Although the duration and off state are not reportedto the application, they are maintained so that the gesture will not berepeated until after the state is triggered off, so that each instanceof the gesture requires a clearly defined intent by the user. A thirdmethod is to trigger the gesture when by the transition of the statefrom off to on, and to periodically re-trigger the gesture at predefinedintervals so long as the state remains on. This emulates that way inwhich, holding a key down on a keyboard, causes the character to repeatin some applications.

One way in which boxes or planes, for the above techniques, may bedefined within the region of interest 103 is as follows. By defining afirst plane (1501 in FIG. 13A) and second plane 1502 that divides theregion of interest into “fire” 1503 and “neutral” 1504 regions (thegesture reported when the object of interest 105 is in the region 1505between the planes depends on the previous positions of the object, asdescribed above), the above technique can detect the object of interest105 (typically a hand) “pushing” forward, which is one gesture foremulating a fire button on a joystick, or causing the application torespond in a way that is commonly associated with the pressing of ajoystick button (for example, the firing of a weapon in a video game).

Another technique in which boxes or planes, for the above techniques,may be defined within the region of interest 103 is as follows. Planesof the first type 1506, 1507, 1508, 1509 are defined that separate eachof the left, right, top and bottom portions of the region of interest103, overlapping in the corner regions as illustrated in FIG. 13B.Planes of the second type are labeled as 1510, 1511, 1512, 1513. Eachpair of first and second planes is processed independently. Thiscombination of planes emulates the four directional cursor keys, where ahand in a corner triggers two keys, commonly interpreted by manyapplications as the four secondary 45 degree (diagonal) directions.Emulating the keyboard cursor in this method allows a variety ofexisting applications to be controlled by system 100, including, forexample, Microsoft® PowerPoint® which responds to the emulated cursorkeys (e.g. the up and down arrow keys) by advancing to the next orprevious slide in a presentation sequence.

Another method of emulating control of discreet directions applies forapplications that expect the four 45 degree direction states to beexplicitly represented. Boxes 1514, 1515, 1516, 1517 are defined foreach of the four primary (horizontal and vertical) directions, withadditional boxes 1518, 1519, 1520, 1521 defined for each of thesecondary 45 degree (diagonal) directions as illustrated FIG. 13C. Forclarity, only boxes of the first type are illustrated. A gap is placedbetween these boxes. FIG. 13D illustrates how neighboring boxes aredefined. The gap between boxes of the first type 1522, 1523 assures thatthe user intentionally causes the object of interest 105 to enter thebox, while the gap 1524 is filled by overlapping boxes of the secondtype 1525, 1526, so that the system will report the previous gestureuntil the user was clearly intended to move the object of interest 105into either a neighboring box or the central neutral region. Thiscombination of buttons can be used to emulate an eight-directionaljoystick pad.

A wider class of gestures depend on motion instead of or in addition toposition. An example is the gesture of “swiping the hand to the left.”This is a one gesture to convey to an application that it is to returnto a previous page or state. Through emulation of a keyboard and mouse,this gesture may be used to control information presentation software,in particular Microsoft® PowerPoint®, to go to the previous slide of apresentation sequence. Through emulation of a keyboard and mouse, thisgesture causes a web browser to perform the action associated with its“back” button. Similarly, the gesture of “swiping the hand to the right”is one gesture to convey to an application that the user desires to goto the next page or state. For example, this gesture causes presentationsoftware to go to the next slide of a presentation sequence, and causesbrowser software to go to the next page.

One method for detecting “swiping the hand to the left” is as follows. Athin stripe along the leftmost part of the region of interest 103 isdefined as the left-edge region. The position (for example the positiondefined by block 314, or alternately by the remapped coordinates fromremapping process 317) of the object of interest 105 is represented asthe following three states:

1. Object of interest is present and not inside the left-edge region

2. Object of interest is present and inside the left-edge region

3. Object of interest is not present within the hand detection region.

A transition from state 1 to state 2 above causes the gesture detectionmodule 315 to enter a state whereby it starts a timer and waits for thenext transition. If a transition to state 3 is observed within apredetermined duration of time, the “swiping the hand off to the left”gesture is reported to have occurred. This technique is typicallyduplicated for the right, upper, and lower edges, and, because the handposition is found in three dimensions, also duplicated to detect“pulling the hand back.”

A variety of gesture detection techniques have been discussed. Stillother gesture detection techniques (for example, Hidden Markov Layers)are described in research literature, and may be applied in the variousimplementations of the system 100 described herein.

Referring back to FIGS. 1 and 3, another implementation of themulticamera control system 100 is described in further detail. WhileFIG. 1 shows a two camera system, it should be understood that the imageprocessor 106 can be configured to receive input from more than twocameras, and may for particular applications include four (4) or morevideo cameras. In the four camera implementation, components 304-311 ofFIG. 3 are duplicated to support the two additional cameras.Additionally, the combination module 312 is configured to receive foursets of camera-relative presence and position data (similar to data 310and 311) associated with the object of interest 105 being tracked. Thetechniques and equations (in particular, Eq. 5 and Eq. 6) previouslydescribed can be applied to the additional pair(s) of cameras, where theoutput of the combination module 312 is the average of all the positionfrom each of the camera pairs. The gesture detection module 315 issimilarly reconfigured to receive four sets of cameral-relative presenceand position data 310, 311 from the two additional detection modules(similar to 308, 309) which are substantially similar to detectionmodules 310 and 311.

The output from the image processor 106, which now includes processedobject position coordinates and gesture information associated with fourcameras, can be used by another process or user application program 316.The formulas and geometry (described above) used to calculate coordinateinformation associated with the object of interest 105 from the twoadditional cameras are also used.

In one implementation using four cameras, the two additional cameras arepositioned at the bottom two corners within the controlled background104 and are oriented such that to the region of interest 103 is withinthe field of view 205 of each camera. The advantage of a four camerasystem is that the position of the object of interest 105 can be trackedwith greater accuracy. Thus, the application program may include morescreen objects with increased density on the video display 107 becausethe increased tracking accuracy allows objects that are close inproximity to be correctly selected by small movements with the object ofinterest 105. Moreover, the two additional cameras reduce errors intracking the object of interest 105 when a portion of the object ofinterest 105 is occluded within the field of view 205 associated withone or more of the other cameras.

While a number of implementations have been described, it will beunderstood that various modifications may be made. Accordingly, otherimplementations are within the scope of the following claims.

What is claimed is:
 1. A method comprising: accessing a first image anda second image of at least a portion of a scene; analyzing, by aprocessor, the first image and the second image to detect an object ofinterest in at least one of the first image and the second image;generating a history of the object of interest; detecting an occurrenceof a gesture made by the object of interest by analyzing the history;and providing an output based on the detected occurrence of the gesture.2. The method of claim 1, further comprising: determining coordinatesrepresenting a location of the detected object of interest, wherein: thecoordinates representing the location of the detected object of interestare used in generating the history of the object of interest.
 3. Themethod of claim 1, wherein analyzing the first image and the secondimage to detect the object of interest comprises: generating abackground model, wherein the background model comprises a luminancevalue for each pixel in a region of interest and the object of interestis detected within the region of interest.
 4. The method of claim 3,wherein analyzing the first image and the second image to detect theobject of interest further comprises: creating a difference map, whereinthe difference map comprises positions of pixels, from at least one ofthe first image and the second image, having a luminance inconsistentwith the background model.
 5. The method of claim 4, wherein analyzingthe first image and the second image to detect the object of interestfurther comprises: performing a cluster identification process on thedifference map to detect the object of interest.
 6. The method of claim3, wherein the region of interest is substantially planar.
 7. The methodof claim 1, wherein providing the output based on the detectedoccurrence of the gesture comprises controlling an application based onthe detected occurrence of the gesture.
 8. The method of claim 1,wherein the gesture comprises a poking gesture.
 9. The method of claim1, wherein the object of interest comprises a human hand.
 10. A system,comprising: one or more processors; and a memory communicatively coupledwith and readable by the one or more processors and having storedtherein processor-readable instructions which, when executed by the oneor more processors, cause the one or more processors to: access a firstimage and a second image of at least a portion of a scene; analyze thefirst image and the second image to detect an object of interest in atleast one of the first image and the second image; generate a history ofthe object of interest; detect an occurrence of a gesture made by theobject of interest by analyzing the history; and provide an output basedon the detected occurrence of the gesture.
 11. The system of claim 10,wherein the processor-readable instructions further compriseprocessor-readable instructions which, when executed by the one or moreprocessors, cause the one or more processors to: determine coordinatesrepresenting a location of the detected object of interest, wherein: thecoordinates representing the location of the detected object of interestare used in generating the history of the object of interest.
 12. Thesystem of claim 10, wherein the processor-readable instructions thatcause the one or more processors to analyze the first image and thesecond image to detect the object of interest further compriseprocessor-readable instructions which, when executed by the one or moreprocessors, cause the one or more processors to: generate a backgroundmodel, wherein the background model comprises a luminance value for eachpixel in a region of interest and the object of interest is detectedwithin the region of interest.
 13. The system of claim 12, wherein theprocessor-readable instructions that cause the one or more processors toanalyze the first image and the second image to detect the object ofinterest further comprise processor-readable instructions which, whenexecuted by the one or more processors, cause the one or more processorsto: create a difference map, wherein the difference map comprisespositions of pixels, from at least one of the first image and the secondimage, having a luminance inconsistent with the background model. 14.The system of claim 13, wherein the processor-readable instructions thatcause the one or more processors to analyze the first image and thesecond image to detect the object of interest further compriseprocessor-readable instructions which, when executed by the one or moreprocessors, cause the one or more processors to: perform a clusteridentification process on the difference map to detect the object ofinterest.
 15. The system of claim 12, wherein the region of interest issubstantially planar.
 16. The system of claim 10, wherein theprocessor-readable instructions that cause the one or more processors toprovide the output based on the detected occurrence of the gesturefurther comprises processor-readable instructions configured to causethe one or more processors to control an application based on thedetected occurrence of the gesture.
 17. The system of claim 10, whereinthe gesture comprises a poking gesture.
 18. The system of claim 10,wherein the object of interest comprises a human hand.
 19. An apparatus,the apparatus comprising: means for accessing a first image and a secondimage of at least a portion of a scene; means for analyzing the firstimage and the second image to detect an object of interest in at leastone of the first image and the second image; means for generating ahistory of the object of interest; means for detecting an occurrence ofa gesture made by the object of interest by analyzing the history; andmeans for providing an output based on the detected occurrence of thegesture.
 20. The apparatus of claim 19, further comprising: means fordetermining coordinates representing a location of the detected objectof interest, wherein: the coordinates representing the location of thedetected object of interest are used in generating the history of theobject of interest.
 21. The apparatus of claim 19, wherein the means foranalyzing the first image and the second image to detect the object ofinterest comprises: means for generating a background model, wherein thebackground model comprises a luminance value for each pixel in a regionof interest and the object of interest is detected within the region ofinterest.
 22. The apparatus of claim 21, wherein the means for analyzingthe first image and the second image to detect the object of interestfurther comprises: means for creating a difference map, wherein thedifference map comprises positions of pixels, from at least one of thefirst image and the second image, having a luminance inconsistent withthe background model.
 23. The apparatus of claim 22, wherein the meansfor analyzing the first image and the second image to detect the objectof interest further comprises: means for performing a clusteridentification process on the difference map to detect the object ofinterest.
 24. A computer program product residing on a non-transitoryprocessor-readable medium, the computer program product comprisingprocessor-readable instructions configured to cause one or moreprocessors to: access a first image and a second image of at least aportion of a scene; analyze the first image and the second image todetect an object of interest in at least one of the first image and thesecond image; generate a history of the object of interest; detect anoccurrence of a gesture made by the object of interest by analyzing thehistory; and provide an output based on the detected occurrence of thegesture.